
where \(T = (E^\top E)^{-1}E\)  when \(n_x \ge n_w\)  and \(T =E^\top (E E^\top )^{-1}\)  otherwise.
The idea is to encourage using generators that closely align with vector \(Ee_p\) , where \(e_p\)  is the \(p^{\rm th}\)  natural basis of vector space \(\mathbb {R}^{n_w}\) . A similar criteria as Eq. (REF ) was used for zonotope order reduction in [1]}.
